JPH03256992A - Door controller for elevator - Google Patents

Door controller for elevator

Info

Publication number
JPH03256992A
JPH03256992A JP2047214A JP4721490A JPH03256992A JP H03256992 A JPH03256992 A JP H03256992A JP 2047214 A JP2047214 A JP 2047214A JP 4721490 A JP4721490 A JP 4721490A JP H03256992 A JPH03256992 A JP H03256992A
Authority
JP
Japan
Prior art keywords
voltage
converter
door
electric motor
circuit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2047214A
Other languages
Japanese (ja)
Inventor
Terumi Hirabayashi
平林　輝美
Kimimoto Mizuno
公元 水野
Masanori Tawada
多和田　正典
Toshiyuki Kodera
利幸 小寺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP2047214A priority Critical patent/JPH03256992A/en
Priority to KR1019910001492A priority patent/KR940005949B1/en
Priority to CN91101299A priority patent/CN1031987C/en
Priority to US07/662,014 priority patent/US5175400A/en
Publication of JPH03256992A publication Critical patent/JPH03256992A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
    • H02H3/24—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to undervoltage or no-voltage

Landscapes

  • Elevator Door Apparatuses (AREA)

Abstract

PURPOSE:To prevent the sudden opening or closing of a door from occurring even if supply voltage goes down by detecting the supply voltage and, when this voltage is lowered in a while ranging from a lower value than the lowest voltage in a supply voltage variation to the lowest voltage with which a microcomputer is operable, making it so as to brake an electric motor driving the door. CONSTITUTION:A converter voltage monitoring circuit 11 is inserted into an interval between a power source 1 and an analog-to-digital converter 7F, detecting a converter voltage of the power source 1, and it selects the gain of an operational amplifier so as to make output of the circuit 11 become more lowish than the maximum input voltage value of the converter 7F, and thereby accuracy in the A/D converter 7F is made so as to be enhanced. In brief, the converter voltage is always monitored by the circuit 11, and when the voltage is lowered in a while from a supply undervoltage detection level to the lowest level with which a one-chip microcomputer 7 normally works, an electric motor 3 is made so as to be forcibly braked. Therefore a danger of sudden door movements is thus kept back.

Description

【発明の詳細な説明】 ［産業上の利用分野］ この発明はエレベータ−の戸を開閉する電動機をマイク
ロコンピュータ（以下マイコンという）で制御する装置
に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a device for controlling an electric motor for opening and closing elevator doors using a microcomputer (hereinafter referred to as microcomputer).

［従来の技術］ エレヘーターの戸を開閉する電動機をマイコンで制御す
る装置か、例えば特開平１−９２１９１号公報に示され
ている。[Prior Art] A device in which an electric motor for opening and closing the door of an electric heater is controlled by a microcomputer is disclosed in, for example, Japanese Patent Laid-Open No. 1-92191.

第５図〜第７図は、従来のマイコンを使用したエレベー
タ−のドア制ｉ卸装置を示す図で、第５図はブロック回
路図、第６図は要部回路図、第７図は戸の制御動作を示
すフローチャートである。Figures 5 to 7 are diagrams showing an elevator door control device using a conventional microcomputer. 3 is a flowchart showing the control operation of FIG.

第５図及び第６図中、（１）は電源で、変圧器の二次側
（ＩＡ）と、これに接続さｆｙ　％’４流回路を構成す
るダイオード（１ａ）〜ｆｌｄｌ及び平滑コンデンサ（
ｌｅからなるコンバータ（ＩＢ）を有している。In Figures 5 and 6, (1) is a power supply, which is connected to the secondary side (IA) of the transformer, diodes (1a) to fldl and a smoothing capacitor (
It has a converter (IB) consisting of le.

（２）は電源（１）に接続されたパワートランジスタか
らなるパワー回路、（３）はパワー回路（２）に接続さ
れ戸を駆動する電動機、（４）は電動機（３）に結合さ
れ電動機（３）の回転角に比例する数のパルスを発生す
るエンコーダ、（５）は戸開指令信号（５ａ）及び戸閉
指令信号（５ｂ）を出力するエレベータ−制御盤、（６
）は戸の全開位置信号（６ａ）及び全閉位置信号（６ｂ
）を出力する位置スイッチ、（７）はワンチップマイコ
ンで、ＣＰ　Ｕ　（７Ａｌ、ＲＯＭ　［７Ｂ＋、ＲＡ　
Ｍ　（７Ｃ）、入力パルスをカウントするパルスカウン
トユニット（７Ｄ）、外部との信号を授受する入出力ボ
ート（７Ｅ）、Ａ／Ｄ変換機（７Ｆ）　（この回路では
使用していない）、及びパルス幅変調（以下ＰＷＭとい
う）信号を発生するＰＷＭ器（７Ｇ）を有しており、パ
ルスカウントユニット（７Ｄ）はエンコーダ（４）に接
続され、入出力ボート（７Ｅｌは制御盤（５）及びイ装
置スイッチ（６）に接続されている。(2) is a power circuit consisting of a power transistor connected to the power supply (1), (3) is an electric motor connected to the power circuit (2) and drives the door, and (4) is an electric motor connected to the electric motor (3). (3) is an encoder that generates a number of pulses proportional to the rotation angle; (5) is an elevator control panel that outputs a door open command signal (5a) and a door close command signal (5b);
) are the fully open position signal (6a) and fully closed position signal (6b) of the door.
), position switch (7) is a one-chip microcomputer, CPU (7Al, ROM [7B+, RA
M (7C), a pulse count unit (7D) that counts input pulses, an input/output board (7E) that exchanges signals with the outside, an A/D converter (7F) (not used in this circuit), and It has a PWM device (7G) that generates a pulse width modulation (hereinafter referred to as PWM) signal, the pulse count unit (7D) is connected to the encoder (4), and the input/output board (7El is connected to the control panel (5) and is connected to the equipment switch (6).

（８）は電源（１）から得られる制御回路用の制御電源
、（９）は制御電源（８）に接続されマイコン（７）用
の電源５ボルトの立上り及び立下りを検出してノセット
パルスを発生する５■監視回路で、この出力信号はワン
チップマイコン（７）のリセット入力へ供給される。（
ｌＯ）は５Ｖ監視回路（９）及びＰＷＭ器（７Ｇ）に接
続されパワー回路（２）のパワートランジスタのゲート
信号を発生するゲート信号発生回路である。(8) is a control power supply for the control circuit obtained from the power supply (1), and (9) is connected to the control power supply (8) and detects the rise and fall of the 5 volt power supply for the microcomputer (7) and sets it. This output signal is supplied to the reset input of the one-chip microcomputer (7) in the 5.2 monitoring circuit that generates pulses. (
1O) is a gate signal generation circuit connected to the 5V monitoring circuit (9) and the PWM device (7G) and generating a gate signal for the power transistor of the power circuit (2).

すなわち、変圧器の二次側［ＩＡＩから出力される交流
は、コンバータｆｌＢ＋で整流かつ平滑され、パワー回
路（２）で交流に変換されて電動機（３）に出力される
。エンコーダ（４）は電動機（３）の回転角に比例する
数のパルスを発生し、パルスカウントユニット（７Ｄ）
に供給される。That is, the AC output from the secondary side [IAI of the transformer is rectified and smoothed by the converter flB+, converted to AC by the power circuit (2), and output to the electric motor (3). The encoder (4) generates a number of pulses proportional to the rotation angle of the electric motor (3), and the pulse count unit (7D)
is supplied to

次に、ワンチ・ンプマイコン（７）の動作を、第７図を
参照して説明する。このフローチャートのプログラムは
、ＲＯＭ　Ｆ７Ｂ＋に格納されている。Next, the operation of the one-chip microcomputer (7) will be explained with reference to FIG. The program of this flowchart is stored in ROM F7B+.

まず、ステップ（２１）で制御盤（５）からの戸開及び
戸閉指令信号（５ａ）　（５ｂ）を読み込み、ステップ
（２２）で戸開か戸閉かを判断する。戸開であれば、ス
テップ（２３）へ進み、パルスカウントユニット（７Ｄ
）のデータ値を読み込む。ステップ（２４）で位置スイ
ッチ（６）からの全開及び全閉位置信号（６ａ）（６ｂ
）を入力して、パルスカウントユニット（７Ｄ）のデー
タ値から戸の位置を算出する。ステップ（２５）で上記
データ値から電動機（３）の速度Ｖｔを算出する。ステ
ップ（２６）で戸の位置に応じて加速、一定速及び減速
の速度指令モードを判別する。ステップ（２７）でＲＯ
Ｍ　（７Ｂ＋から戸の位置に対応した速度指令値Ｖｐを
読み込み、ステップ（２８）で速度指令値と速度Ｖｔの
偏差を算出する。ステップ（２９）で位相補償の演算を
行ない、ステップ（３０）で上記偏差に利得Ｋを乗じる
。ステップ（３］）で戸の位置によりトルクを制限する
。そして、ステップ（３２）でＰＷＭ器（７Ｇ）に上記
算出値を供給し、ＰＷＭ信号を出力する。First, in step (21), door open and door close command signals (5a) (5b) from the control panel (5) are read, and in step (22) it is determined whether the door is open or closed. If the door is open, proceed to step (23) and check the pulse count unit (7D).
) reads the data value. In step (24), the fully open and fully closed position signals (6a) (6b) are sent from the position switch (6).
) to calculate the door position from the data value of the pulse count unit (7D). In step (25), the speed Vt of the electric motor (3) is calculated from the above data value. In step (26), the speed command modes of acceleration, constant speed, and deceleration are determined according to the position of the door. RO in step (27)
M (Read the speed command value Vp corresponding to the door position from 7B+, and calculate the deviation between the speed command value and the speed Vt in step (28). In step (29), calculate the phase compensation, and in step (30) The above deviation is multiplied by the gain K. In step (3), the torque is limited depending on the position of the door.Then, in step (32), the above calculated value is supplied to the PWM device (7G), and a PWM signal is output.

ステップ（２２）で戸閉と判断されると、ステップ（３
３）で戸開の場合に準じて戸開の場合の処理が行なわれ
る。If it is determined in step (22) that the door is closed, step (3)
In step 3), processing for the case of the door being opened is performed in the same way as for the case of the door being opened.

ＰＷＭ信号はゲート信号発生回路（１０）へ出力され、
パワー回路（２）のパワートランジスタのゲートがＰＷ
Ｍ制御されることにより、電動機（３）の速度、すなわ
ち戸の速度は精度高く制御される。The PWM signal is output to the gate signal generation circuit (10),
The gate of the power transistor of the power circuit (2) is PW
By performing M control, the speed of the electric motor (3), that is, the speed of the door, is controlled with high precision.

戸の動作中に、電源（１）が遮断されたり、瞬時停電し
たりして、制御電源（８）の電圧が低下すると、５ｖ監
視回路（９）はリセットパルスを発生し、ワンチップマ
イコン（７）は停止し、パワー回路（２）は遮断される
。If the voltage of the control power supply (8) drops due to power supply (1) being cut off or momentary power outage while the door is operating, the 5V monitoring circuit (9) generates a reset pulse and the one-chip microcontroller ( 7) is stopped and the power circuit (2) is cut off.

［発明が解決しようとする課題］ 上記のような従来のエレベータ−のドア制御装置では、
制御量＃ｉ　＋８）の電圧が低下すると、ワンチップマ
イコン（７）　をリセットするようにしているため、こ
の動作か戸開又は戸開の最高速中に発生すると、パワー
回路（２）は遮断されて電！ｌ］機（３）に制動力を作
用させることができず、戸は惰性で動作し、高速状態の
まま戸開又は戸閉することになり危険であるという問題
点がある。[Problem to be solved by the invention] In the conventional elevator door control device as described above,
When the voltage of the control variable #i +8) decreases, the one-chip microcomputer (7) is reset, so if this operation occurs during the door opening or the maximum speed of door opening, the power circuit (2) will be cut off. It's electric! l] It is not possible to apply braking force to the machine (3), and the door operates by inertia, resulting in the door opening or closing at high speed, which is dangerous.

この発明は上記問題点を解決するためになされたもので
、電源電圧が低下しても、戸の暴走を防止できるように
したエレベータ−のドア制御装置を提供することを目的
とする。The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide an elevator door control device that can prevent the door from running out of control even when the power supply voltage drops.

［課題を解決するための手段］ この発明に係るエレベータのドア制御装置は、電源電圧
を検出し、これが電源電圧変動の最低電圧よりも低い値
から、マイコンの動作可能な最低電圧までの間に低下す
ると、戸を駆動する電動機を制動するようにしたもので
ある。[Means for Solving the Problems] An elevator door control device according to the present invention detects a power supply voltage, and detects a voltage between a value lower than the lowest voltage of power supply voltage fluctuations and a lowest voltage at which a microcomputer can operate. When the temperature drops, the electric motor that drives the door is braked.

［作　用］ この発明では、電源電圧が所定電圧範囲内に低下すると
電動機を制動するようにしたため、戸は強制的に制動さ
れる。[Function] In this invention, since the electric motor is braked when the power supply voltage falls within a predetermined voltage range, the door is forcibly braked.

［実施例１ 第１図〜第４図はこの発明の一実施例を示す図で、第１
図はブロック回路図、第２図はコンバータ電圧監視回路
の人出力特性図、第３図は戸の制御動作を示すフローチ
ャート、第４図は強制制動動作説明図であり、従来装置
と同様の部分は同一符号で示す。なお、第６図はこの実
施例にも共用される。[Example 1 Figures 1 to 4 are diagrams showing an example of the present invention.
Figure 2 is a block circuit diagram, Figure 2 is a human output characteristic diagram of the converter voltage monitoring circuit, Figure 3 is a flowchart showing the door control operation, and Figure 4 is a diagram explaining the forced braking operation, showing the same parts as the conventional device. are indicated by the same symbol. Note that FIG. 6 is also used in this embodiment.

第１図中、（１１）は電源（１１とＡ／Ｄ変換器（７Ｆ
）の間に挿入され、絶縁アンプとその信号を増幅する演
算増幅器により構成されており、電源（１）のコンバー
タ電圧（第６図の線路ＰＮ間の直流電圧）を検出するコ
ンバータ電圧監視回路である。In Figure 1, (11) is the power supply (11) and the A/D converter (7F
), and consists of an insulated amplifier and an operational amplifier that amplifies the signal, and is a converter voltage monitoring circuit that detects the converter voltage of power supply (1) (DC voltage between line PN in Figure 6). be.

そして、電源電圧が最大のときに、コンバータ電圧監視
回路（１１）の出力がＡ／Ｄ変換器（７Ｆ）の最大入力
電圧値よりも少し低めになるように、上記演算増幅器の
利得を選定して、Ａ／Ｄ変換器（７Ｆ）の精度を上げる
ようにしている。Then, the gain of the operational amplifier is selected so that when the power supply voltage is maximum, the output of the converter voltage monitoring circuit (11) is slightly lower than the maximum input voltage value of the A/D converter (7F). In order to improve the accuracy of the A/D converter (7F).

第２図中、Ａ点はコンバータ電圧が最大のときを示し、
その出力を４．８ボルトとする。８点はコンバータ電圧
の最低値、６点は電源電圧低下検出レベル、Ｄ点はワン
チップマイコン（７）が正常に働（最低レベルである。In Figure 2, point A indicates when the converter voltage is maximum,
Let its output be 4.8 volts. Point 8 is the lowest value of the converter voltage, point 6 is the power supply voltage drop detection level, and point D is the one-chip microcomputer (7) functioning normally (the lowest level).

すなわち、コンバータ電圧監視回路ｆｉｌｌにより、コ
ンバータ電圧は常に監視されており、コンバータ電圧が
第２図の６点からＤ点までの間に低下すると、電動機（
３）を強制制動するようになっている。That is, the converter voltage is constantly monitored by the converter voltage monitoring circuit fill, and when the converter voltage decreases between point 6 and point D in Fig. 2, the electric motor (
3) is forced to brake.

次に、この実施例の動作を第３図及び第４図を参照して
説明する。なお、第３図のフローチャートのプログラム
はＲＯＭ　（７Ｂ＋に格納されている。Next, the operation of this embodiment will be explained with reference to FIGS. 3 and 4. Note that the program of the flowchart in FIG. 3 is stored in the ROM (7B+).

ステップ（２１）〜（２５）は既述のとおりである。ス
テップ（４１１でＡ／Ｄ変換器（７Ｆ）のコンバータ電
圧読取り値を調べる。すなわち、Ａ／Ｄ変換器（７Ｆ）
はコンバータ電圧を読んで、その値をＡ／Ｄ変換器（７
Ｆ）内のレジスタに記録させているので、その値を調べ
る。ステップ（４２）で電源電圧が検出レベルＣ以上あ
るかを判断し、以上であれば既述のように、ステップ（
２６）〜（３２）の処理を実行する。検出レベルＣより
も低いと判断されると、ステップ（４３）へ進み、強制
制動速度指令値ＶｐをＲＯＭ　［７Ｂ＋に２憔されたテ
ーブルから読み込んで、ステップ（２８）以下の処理を
実行する。これで、電動機（３）の速度は、強制制動速
度指令値Ｖｐに従って制御され、戸は急停止する。すな
わち、ステップ（４３）（２８）は強制制動手段を構成
し、第４図に示すように、Ｘ点で電圧低下が発生すると
、戸は破線で示すように減速して急停止し、暴走の危険
は防止される。Steps (21) to (25) are as described above. Step (411) checks the converter voltage reading of the A/D converter (7F), i.e. the A/D converter (7F)
reads the converter voltage and sends the value to the A/D converter (7
Since it is recorded in the register in F), check its value. In step (42), it is determined whether the power supply voltage is higher than the detection level C, and if it is higher than the detection level, step (42) is performed as described above.
26) to (32) are executed. If it is determined that it is lower than the detection level C, the process proceeds to step (43), where the forced braking speed command value Vp is read from the table stored in the ROM [7B+], and the processes from step (28) are executed. The speed of the electric motor (3) is now controlled according to the forced braking speed command value Vp, and the door suddenly stops. That is, steps (43) and (28) constitute a forced braking means, and as shown in Fig. 4, when a voltage drop occurs at point X, the door decelerates and suddenly stops as shown by the broken line, preventing runaway Danger is prevented.

［発明の効果］ 以上説明したとおりこの発明では、電源電圧を検出し、
これが電源電圧変動の最低電圧よりも低い値からマイコ
ンの動作可能な最低電圧までの間に低下すると、戸を駆
動する電動機を制動するようにしたので、戸は強制的に
制動され、暴走の危険を防止できる効果がある。[Effect of the invention] As explained above, in this invention, the power supply voltage is detected,
When this voltage drops between the lowest voltage of the power supply voltage fluctuation and the lowest voltage at which the microcontroller can operate, the electric motor that drives the door is braked, so the door is forcibly braked and there is a risk of a runaway. It has the effect of preventing

【図面の簡単な説明】[Brief explanation of drawings]

第１図〜第４図はこの発明によφエレベーターのドア制
御装置の一実施例を示す図で、第１図はブロック回路図
、第２図はコンバータ電圧監視回路の人出力特性図、第
３図は戸の制御動作を示すフローチャート、第４図は強
制制動動作説明図第５図〜第７図は従来のエレベータ−
のドア制御装置を示す図で、第５図はブロック回路図、
第６図は第５図の要部回路図、第７図は戸の制御動作を
示すフローチャートである。 図中、（１）は電源、（３）は巨躯動用電動機、（７）
　はワンチップマイクロコンピュータ、（ｌｉｔはコン
バータ電圧監視回路である。 なお、図中同一符号は同−又は相当部分を示す。1 to 4 are diagrams showing an embodiment of a door control device for a φ elevator according to the present invention, in which FIG. 1 is a block circuit diagram, FIG. 2 is a human output characteristic diagram of a converter voltage monitoring circuit, and FIG. Figure 3 is a flowchart showing the door control operation, Figure 4 is an explanatory diagram of the forced braking operation, and Figures 5 to 7 are a diagram showing the conventional elevator.
FIG. 5 is a block circuit diagram,
FIG. 6 is a circuit diagram of the main part of FIG. 5, and FIG. 7 is a flowchart showing the door control operation. In the diagram, (1) is the power supply, (3) is the electric motor for large-frame motion, and (7)
is a one-chip microcomputer, and (lit is a converter voltage monitoring circuit). Note that the same reference numerals in the drawings indicate the same or equivalent parts.

Claims (1)

【特許請求の範囲】[Claims] 戸を駆動する電動機を、マイクロコンピュータの出力に
より制御し、電源喪失時は上記マイクロコンピュータを
リセットするようにした装置において、上記電源の電圧
を検出する電圧監視回路と、この電圧監視回路により上
記電源電圧が電源電圧変動の最低電圧よりも低い値から
上記マイクロコンピュータの動作可能な最低電圧の間に
低下すると上記電動機を制動する強制制動手段とを備え
たことを特徴とするエレベーターのドア制御装置。A device in which an electric motor that drives a door is controlled by the output of a microcomputer, and the microcomputer is reset when power is lost, includes a voltage monitoring circuit that detects the voltage of the power supply, and a voltage monitoring circuit that detects the voltage of the power supply. An elevator door control device comprising forced braking means for braking the electric motor when the voltage drops from a value lower than the lowest voltage of power supply voltage fluctuations to a lowest voltage at which the microcomputer can operate.
JP2047214A 1990-03-01 1990-03-01 Door controller for elevator Pending JPH03256992A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2047214A JPH03256992A (en) 1990-03-01 1990-03-01 Door controller for elevator
KR1019910001492A KR940005949B1 (en) 1990-03-01 1991-01-29 Elevator door control apparatus
CN91101299A CN1031987C (en) 1990-03-01 1991-02-26 Controlling apparatus for elevator door
US07/662,014 US5175400A (en) 1990-03-01 1991-02-28 Apparatus for controlling elevator door based on power source voltage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2047214A JPH03256992A (en) 1990-03-01 1990-03-01 Door controller for elevator

Publications (1)

Publication Number Publication Date
JPH03256992A true JPH03256992A (en) 1991-11-15

Family

ID=12768909

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2047214A Pending JPH03256992A (en) 1990-03-01 1990-03-01 Door controller for elevator

Country Status (4)

Country Link
US (1) US5175400A (en)
JP (1) JPH03256992A (en)
KR (1) KR940005949B1 (en)
CN (1) CN1031987C (en)

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KR100775182B1 (en) 2006-05-02 2007-11-12 미쓰비시덴키 가부시키가이샤 Elevator controller
CN103922214B (en) * 2014-03-11 2016-08-17 深圳市海浦蒙特科技有限公司 Control method of elevator door-motor
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WO2005113401A1 (en) * 2004-05-24 2005-12-01 Mitsubishi Denki Kabushiki Kaisha Elevator controller
JPWO2005113401A1 (en) * 2004-05-24 2008-03-27 三菱電機株式会社 Elevator control device
US7398864B2 (en) 2004-05-24 2008-07-15 Mitsubishi Denki Kabushiki Kaisha Elevator controller
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Also Published As

Publication number Publication date
CN1054950A (en) 1991-10-02
CN1031987C (en) 1996-06-12
US5175400A (en) 1992-12-29
KR910016607A (en) 1991-11-05
KR940005949B1 (en) 1994-06-25

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